{"as_of":"2026-08-16T12:55:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:864dcec3ccc53b80f706b867ecb941f33b1ea1a370d8e2d802f4213b96b498c3","coverage":[{"denominator":25,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":25,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-14T14:26:20.434555Z","state":"measured"},{"denominator":25,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":25,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-16T06:30:59.297886+00:00","state":"measured"},{"denominator":0,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":0,"source":"paper_references, paper_reference_links","source_observed_at":null,"state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"cited_works","source_observed_at":null,"state":"measured"}],"external_citation_measurements":[],"inbound":[],"links":{"evidence":"/evidence","html":"/paper/1908.03166/citation-record","integrity":"/paper/1908.03166/integrity","json":"/paper/1908.03166/citation-record.json","paper":"/paper/1908.03166"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.776368Z","title":"Long- Duration Autonomy for Small Rotorcraft UAS including Recharging,","venue":null,"work_id":"84c03bc3-fbfb-4399-adef-fb94e6f0e554","year":2018},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.332232Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:90ecc8dc0b2035bea712b9c5d5413c6bb0cb361b4f1e4d99d81bfcd843f000be","observation_id":"eff005bc-f317-4e8b-933c-e9d8e4f4d197","resolution":{"observed_at":"2026-08-14T14:26:20.780536Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.764978Z","title":"Visual industrial inspection using aerial robots,","venue":null,"work_id":"e6b046d3-a3a4-446c-b2c4-352fdd5f2045","year":2014},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.338665Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:7dd79a6e2eae91f68928abd1be01d4c2c38a8ca5c598974eb1a6de323fd193ca","observation_id":"5156a8b2-8627-4bda-83b0-4a2961c3f771","resolution":{"observed_at":"2026-08-14T14:26:20.768764Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.753822Z","title":"Can drones deliver?","venue":null,"work_id":"deba0607-63f8-4df6-9333-1d32c623120d","year":2014},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.342894Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:ca7d79bf45bd0ce940c1fedb9938d1afe75ffb0f083bbdb7922206e39354e42d","observation_id":"f2b0c149-195c-4ca2-90da-272fbf157f77","resolution":{"observed_at":"2026-08-14T14:26:20.757726Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.741851Z","title":"Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles,","venue":null,"work_id":"3dbc5bc2-179a-491e-b571-3f5799f8dad0","year":2017},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.348258Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:fda066aa4013b1978df9ec9ff5879b3f5c43e712feeec1ea48e57301a82f6f19","observation_id":"4f866cb1-8bee-45e5-b51c-be9043a4f7b5","resolution":{"observed_at":"2026-08-14T14:26:20.746338Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.728954Z","title":"An integral predic- tive/nonlinear H control structure for a quadrotor helicopter,","venue":null,"work_id":"f189a9f4-13d7-4de0-b5b6-ae91bbc76db5","year":2010},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.352593Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:bbaf27ad4821af32f7aa94ae16ad5a12fabeef506220e0f39e33ab5cad1d2285","observation_id":"3a941880-9379-41ae-ae40-cb90ff21626a","resolution":{"observed_at":"2026-08-14T14:26:20.733240Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.716656Z","title":"Robust Model Predictive Flight Control of Unmanned Rotorcrafts,","venue":null,"work_id":"68846a93-b828-4437-8e34-5a93ef2a5f85","year":2016},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.357708Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:ccc4a38eb72e3394ac8f9d188b98b0daf57d0ae7021285bb735846c8298c86b9","observation_id":"61403c57-b83f-4fbc-92db-152372f68ca4","resolution":{"observed_at":"2026-08-14T14:26:20.720841Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.704566Z","title":"Adaptive Control of a Quadcopter in the Presence of large/complete Parameter Uncertainties,","venue":null,"work_id":"16e0d19b-7b4b-49c2-9f30-8a5033a38141","year":2011},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.362242Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:3c617bb3c80677cbb0b9cd150660b2ee5b1b845783626558934851cb4c31c52c","observation_id":"5468b99a-f86f-4d31-8205-2d4d2a101d29","resolution":{"observed_at":"2026-08-14T14:26:20.708907Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.692025Z","title":"High- Precision Trajectory Tracking in Changing Environments Through L 1 Adaptive Feedback and Iterative Learning,","venue":null,"work_id":"01de5742-6dac-4963-8ac3-6c0b21bfd9e4","year":2017},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.366198Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:053f87bd756a3b0926d6dd29366efcedb4aaa6bfc8fc485188382fed8b97b229","observation_id":"64f3f28a-67b7-4996-8751-5161b66d7948","resolution":{"observed_at":"2026-08-14T14:26:20.696372Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.679970Z","title":"Impedance Control of VTOL UA Vs with a Momentum-based External General- ized Forces Estimator,","venue":null,"work_id":"59259ea9-8ed5-439e-b307-ab6f004e9e25","year":2014},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.370012Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:e0e30326f1b2a61c5d1f471c6efe89c59b51f419d6d8db99ade0b30b14ddf88c","observation_id":"d5952760-751e-478e-9863-39d97aa353a5","resolution":{"observed_at":"2026-08-14T14:26:20.684201Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.667268Z","title":"Cascaded incremental nonlinear dynamic inversion for MA V disturbance rejection,","venue":null,"work_id":"952a8ee0-2f25-4cf0-951b-8cdf34d1e227","year":2018},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.373757Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:8efff08dad14757e0eb34b45b82153f8dd634eca03c612e607695665c67af4f6","observation_id":"97c0ddf4-25ce-4a0c-a22b-7bb23bb71a2a","resolution":{"observed_at":"2026-08-14T14:26:20.671686Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.654887Z","title":"A uniﬁed framework for external wrench estimation, interaction control and collision reﬂexes for ﬂying robots,","venue":null,"work_id":"cf442e0a-956d-42c1-b743-df6ac99b333f","year":2014},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.377543Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:1557f6e58455614c71093e1a321a15280eb9a45a2b15c24da7ec3031ca2bea00","observation_id":"663bc540-7cb9-46c2-b4dc-0d49cf195c6e","resolution":{"observed_at":"2026-08-14T14:26:20.658904Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.641444Z","title":"Robust Accel- eration Control of a Hexarotor UA V with a Disturbance Observer,","venue":null,"work_id":"397840ec-8049-4065-9e24-0aae1fc10ea4","year":2016},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.381222Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:e0907a828bfa01d6d7478b16663bb1f50c8d25b79899bdea5e640dcf82b7659d","observation_id":"279ff647-4a82-4021-a5d7-5dfcced24319","resolution":{"observed_at":"2026-08-14T14:26:20.646365Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.629283Z","title":"Unscented external force and torque estimation for quadrotors,","venue":null,"work_id":"d1b1c542-37ed-438f-82db-577353e6a751","year":2016},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.384936Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:d15199ed9f2c1c1f2bcfbb9ec7fa7a0ec7dc8c0b12233aa205e8350c2dfdbba4","observation_id":"e1b9760e-6432-438b-b1a8-3ad16eec16e3","resolution":{"observed_at":"2026-08-14T14:26:20.633715Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.611742Z","title":"Collaborative transportation using MA Vs via passive force control,","venue":null,"work_id":"7a9efd46-269b-46b1-a858-f540a18336e1","year":2017},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.389179Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:2cf77844135cb177af02060aba4f564248d082c1122f3f741218b6e4aa3dd52b","observation_id":"202c32d0-26e0-4bd2-ad5b-c0a9875abcda","resolution":{"observed_at":"2026-08-14T14:26:20.617785Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.598795Z","title":"Thrust Mixing , Saturation , and Body-Rate Control for Accurate Aggressive Quadrotor Flight,","venue":null,"work_id":"d4580054-1a95-4b71-bb88-10202cea5c11","year":2017},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.392877Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:e34fa1fe938f155b822d5b2d7d2f58f38b4f62fe68314ebfc38579696c75480d","observation_id":"6f3f4a14-49f4-40ca-ad24-7472c15da851","resolution":{"observed_at":"2026-08-14T14:26:20.603623Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.586720Z","title":"Pose Estimation using Lin- earized Rotations and Quaternion Algebra,","venue":null,"work_id":"504d2c32-7922-49e4-b102-9250dd9bf033","year":2011},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.396805Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:aed8df9843ebb237ffba6af879cc975c6d35215be41aad96e618f65eaaff34d9","observation_id":"5d2cde5b-d7c4-4698-997d-be42ee70dcd0","resolution":{"observed_at":"2026-08-14T14:26:20.591004Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.573986Z","title":"Simon, Optimal State Estimation: Kalman, H Inﬁnity, and Nonlin- ear Approaches","venue":null,"work_id":"dc53e2fc-93bc-4bdd-abd5-e68634659472","year":2006},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.400550Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:1f71b5f93e971319b1250cab5a0e290eb257346d7987363a0f8e1b2cc030c6a6","observation_id":"98b94152-50e7-4501-a924-ccc86f1388a1","resolution":{"observed_at":"2026-08-14T14:26:20.578488Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.559575Z","title":"Unscented Filtering for Spacecraft Attitude Estimation,","venue":null,"work_id":"b82b66f3-e30a-4244-a267-078a44fbfc00","year":2003},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.404654Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:e3cf911634b940b1b27ebf62e666d0f1f9c454b9dd9dcfd495cff1f0fb3fbec7","observation_id":"b94e4cf9-db34-47dd-9b32-28504b9ead8b","resolution":{"observed_at":"2026-08-14T14:26:20.563678Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.546572Z","title":"Dynamic Map Building and Localization: New Theoret- ical Foundations,","venue":null,"work_id":"56f07be7-46cb-4914-8181-c0f640c2aa0d","year":1995},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.408658Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:2b0147a05eca730950249a3dcc43c31657939e90227b4df547468c8f55b00d6f","observation_id":"90175db8-a202-4296-bf18-6f2ff41cedaa","resolution":{"observed_at":"2026-08-14T14:26:20.550583Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.532908Z","title":"Nonlinear Quadrocopter Attitude Control,","venue":null,"work_id":"ab26e842-30a9-4a41-af70-b203dbad14a1","year":2013},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.412541Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:845fc80a68fa6b31cd3e1996f81e594e5306a642ceb15d9fb042a2da4dfdc283","observation_id":"af6346ca-13b8-470c-81ab-45ee5a661698","resolution":{"observed_at":"2026-08-14T14:26:20.537368Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.518183Z","title":"{ACADO} { T}oolkit – {A}n {O}pen {S}ource {F}ramework for {A}utomatic {C}ontrol and {D}ynamic {O}ptimization,","venue":null,"work_id":"49c37e9e-1d8c-49cb-95c5-1d7d4884383a","year":2011},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.417569Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:6eb760fe980229413c7199d3b74ea8365586c3b61d0af431fbca0eb7814d7efe","observation_id":"584798e2-a608-40dd-86dc-4159c3242bfa","resolution":{"observed_at":"2026-08-14T14:26:20.522925Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.505862Z","title":"qpOASES: a parametric active-set algorithm for quadratic program- ming,","venue":null,"work_id":"6003a7ea-7164-439f-9600-029f5aecd100","year":2014},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.422042Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:806e797c6e9f765140cba4f9e71c273c260f053aa85233386752c71834c5864a","observation_id":"8138c563-a6b1-4321-8c28-cfc7a4e8bb59","resolution":{"observed_at":"2026-08-14T14:26:20.510219Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.492771Z","title":"ROS: an open-source Robot Operating System,","venue":null,"work_id":"d4936a3e-2647-452b-9f9e-643f9c3cb1c8","year":2009},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.426495Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:ccacb3becc7d17efa54cbbcba5a8c6ad57a0a1655f9f093bc60b2587ab1b60d2","observation_id":"ee6cd417-577a-445d-8749-a930e0d902b2","resolution":{"observed_at":"2026-08-14T14:26:20.496978Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.480716Z","title":"Furrer, M","venue":null,"work_id":"dc2d7bd5-6016-4358-b4bd-657ef697e33c","year":2016},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.430661Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:81a29bf40c6c0a497a999a358b26d4121cd14ed7185c4d365e1cc1f6d1412c34","observation_id":"de7ea475-64c6-43fc-b286-d0001798b5ff","resolution":{"observed_at":"2026-08-14T14:26:20.484926Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T14:26:20.465767Z","title":"Leveraging Experience for Computa- tionally Efﬁcient Adaptive Nonlinear Model Predictive Control,","venue":null,"work_id":"e76148d5-a67d-4ef1-90ba-7dd5acd4e3be","year":2017},"citing_paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-14T14:26:20.434555Z"},"links":{"citing_paper":"/paper/1908.03166"},"observation_digest":"sha256:879235d24ac646a95804370c98d90ce6112044d2c6c08e704c5d34303fda5945","observation_id":"fa971de7-edc0-4308-ab76-df96e4e373d2","resolution":{"observed_at":"2026-08-14T14:26:20.472192Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}}],"paper":{"arxiv_id":"1908.03166","last_updated":"2019-08-08T16:56:49Z","latest_version":1,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-14T14:19:21.137780Z","submitted_at":"2019-08-08T16:56:49Z","title":"Disturbance Estimation and Rejection for High-Precision Multirotor Position Control"},"reference_resolution":{"displayed":25,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":0,"verified_exact":0,"verified_fuzzy":25},"total_outbound_references":25},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"thesis":"As of 16 August 2026, this Paper Citation Record lists 25 of 25 outbound references and 0 inbound Pith citation observations for arXiv:1908.03166."}